<html><head><meta http-equiv="content-type" content="text/html; charset=utf-8"> <style>
	.KEYW {color: #933;}
	.COMM {color: #bbb; font-style: italic;}
	.NUMB {color: #393;}
	.STRN {color: #393;}
	.REGX {color: #339;}
	.line {border-right: 1px dotted #666; color: #666; font-style: normal;}
	</style></head><body><pre><span class='line'>  1</span> <span class="COMM">/**
<span class='line'>  2</span>  * @author David Gossow - dgossow@willowgarage.com
<span class='line'>  3</span>  */</span><span class="WHIT">
<span class='line'>  4</span> 
<span class='line'>  5</span> </span><span class="COMM">/**
<span class='line'>  6</span>  * A Quaternion.
<span class='line'>  7</span>  *
<span class='line'>  8</span>  *  @constructor
<span class='line'>  9</span>  *  @param options - object with following keys:
<span class='line'> 10</span>  *   * x - the x value 
<span class='line'> 11</span>  *   * y - the y value 
<span class='line'> 12</span>  *   * z - the z value 
<span class='line'> 13</span>  *   * w - the w value 
<span class='line'> 14</span>  */</span><span class="WHIT">
<span class='line'> 15</span> </span><span class="NAME">ROSLIB.Quaternion</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">options</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 16</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 17</span> </span><span class="WHIT">  </span><span class="NAME">this.x</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.x</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 18</span> </span><span class="WHIT">  </span><span class="NAME">this.y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.y</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 19</span> </span><span class="WHIT">  </span><span class="NAME">this.z</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.z</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 20</span> </span><span class="WHIT">  </span><span class="NAME">this.w</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.w</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="NUMB">1</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 21</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 22</span> 
<span class='line'> 23</span> </span><span class="COMM">/**
<span class='line'> 24</span>  * Perform a conjugation on this quaternion.
<span class='line'> 25</span>  */</span><span class="WHIT">
<span class='line'> 26</span> </span><span class="NAME">ROSLIB.Quaternion.prototype.conjugate</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 27</span> </span><span class="WHIT">  </span><span class="NAME">this.x</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NUMB">1</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 28</span> </span><span class="WHIT">  </span><span class="NAME">this.y</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NUMB">1</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 29</span> </span><span class="WHIT">  </span><span class="NAME">this.z</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NUMB">1</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 30</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 31</span> 
<span class='line'> 32</span> </span><span class="COMM">/**
<span class='line'> 33</span>  * Perform a normalization on this quaternion.
<span class='line'> 34</span>  */</span><span class="WHIT">
<span class='line'> 35</span> </span><span class="NAME">ROSLIB.Quaternion.prototype.normalize</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 36</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">l</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">Math.sqrt</span><span class="PUNC">(</span><span class="NAME">this.x</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">this.x</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.y</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">this.y</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.z</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">this.z</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.w</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">this.w</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 37</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">l</span><span class="WHIT"> </span><span class="PUNC">===</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 38</span> </span><span class="WHIT">    </span><span class="NAME">this.x</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 39</span> </span><span class="WHIT">    </span><span class="NAME">this.y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 40</span> </span><span class="WHIT">    </span><span class="NAME">this.z</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 41</span> </span><span class="WHIT">    </span><span class="NAME">this.w</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NUMB">1</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 42</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT"> </span><span class="KEYW">else</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 43</span> </span><span class="WHIT">    </span><span class="NAME">l</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NUMB">1</span><span class="WHIT"> </span><span class="PUNC">/</span><span class="WHIT"> </span><span class="NAME">l</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 44</span> </span><span class="WHIT">    </span><span class="NAME">this.x</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">this.x</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">l</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 45</span> </span><span class="WHIT">    </span><span class="NAME">this.y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">this.y</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">l</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 46</span> </span><span class="WHIT">    </span><span class="NAME">this.z</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">this.z</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">l</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 47</span> </span><span class="WHIT">    </span><span class="NAME">this.w</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">this.w</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">l</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 48</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
<span class='line'> 49</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 50</span> 
<span class='line'> 51</span> </span><span class="COMM">/**
<span class='line'> 52</span>  * Convert this quaternion into its inverse.
<span class='line'> 53</span>  */</span><span class="WHIT">
<span class='line'> 54</span> </span><span class="NAME">ROSLIB.Quaternion.prototype.inverse</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 55</span> </span><span class="WHIT">  </span><span class="NAME">this.conjugate</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 56</span> </span><span class="WHIT">  </span><span class="NAME">this.normalize</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 57</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 58</span> 
<span class='line'> 59</span> </span><span class="COMM">/**
<span class='line'> 60</span>  * Set the values of this quaternion to the product of itself and the given quaternion.
<span class='line'> 61</span>  *
<span class='line'> 62</span>  * @param q the quaternion to multiply with
<span class='line'> 63</span>  */</span><span class="WHIT">
<span class='line'> 64</span> </span><span class="NAME">ROSLIB.Quaternion.prototype.multiply</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">q</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 65</span> </span><span class="WHIT">  </span><span class="NAME">this.x</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">this.x</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">q.w</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.y</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">q.z</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">this.z</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">q.y</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.w</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">q.x</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 66</span> </span><span class="WHIT">  </span><span class="NAME">this.y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NAME">this.x</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">q.z</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.y</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">q.w</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.z</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">q.x</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.w</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">q.y</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 67</span> </span><span class="WHIT">  </span><span class="NAME">this.z</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">this.x</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">q.y</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">this.y</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">q.x</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.z</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">q.w</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.w</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">q.z</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 68</span> </span><span class="WHIT">  </span><span class="NAME">this.w</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NAME">this.x</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">q.x</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">this.y</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">q.y</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">this.z</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">q.z</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.w</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">q.w</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 69</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 70</span> 
<span class='line'> 71</span> </span><span class="COMM">/**
<span class='line'> 72</span>  * Clone a copy of this quaternion.
<span class='line'> 73</span>  *
<span class='line'> 74</span>  * @returns the cloned quaternion
<span class='line'> 75</span>  */</span><span class="WHIT">
<span class='line'> 76</span> </span><span class="NAME">ROSLIB.Quaternion.prototype.clone</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 77</span> </span><span class="WHIT">  </span><span class="KEYW">return</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Quaternion</span><span class="PUNC">(</span><span class="KEYW">this</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 78</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 79</span> </span></pre></body></html>